Rod piece hole corrosion cleaning method and system

Abstract

The invention relates to a rod piece hole corrosion cleaning method and system, and relates to the technical field of laser rust removal, and the method comprises the steps that a rod piece image on a preset cleaning workbench is collected for feature analysis so as to determine a rod piece model and hole parameters, and the hole parameters comprise the hole center position and the hole area; analyzing according to the hole center position, the hole area and the cleaning direction of a preset linkage laser group to determine a hole cleaning path and a hole cleaning blind spot area; calculating according to the hole cleaning blind spot area and a preset laser rotation range to determine a compensation angle; a preset linkage laser set is indicated to clean the rod piece hole according to the hole cleaning path, and compensation cleaning is conducted on the hole cleaning blind spot area according to the compensation angle; and a preset cleaning workbench is indicated to discharge and stack the derusted rod pieces. The paint removing device has the effect of improving the paint removing efficiency of different rod piece holes.

Description

Technical Field

[0001] The present application relates to the technical field of laser rust removal, and in particular to a method and system for cleaning rust from holes in rods. Background Art

[0002] In the steering transmission mechanism of rail vehicles, transmission is often performed on rods. In order to reduce the hidden dangers of rust and cracks during the use of the rods, it is necessary to conduct regular flaw detection on the positions of the rods that bear greater loads.

[0003] In the related art, the rod is arranged in a rectangular strip shape with holes at both ends for bearings or other rotating parts to be embedded and installed. Before performing flaw detection, the paint layer coated on the surface of the rod and the holes needs to be removed to reduce the impact on the accuracy of the flaw detection process. Before removing the paint, the laser is arranged at the corresponding position so that the laser can remove the paint from the surface that needs to be inspected.

[0004] With regard to the above-mentioned related technologies, due to the different models and specifications of the rods, the positions and sizes of the holes vary, so that during the continuous paint removal operation of different rods, it is necessary to stop the machine and adjust the position of the paint removal laser before the paint removal operation can be carried out, and the overall paint removal efficiency is low. Summary of the invention

[0005] In order to improve the efficiency of paint removal from holes of different rods, the present application provides a method and system for cleaning rust from holes in rods.

[0006] In a first aspect, the present application provides a method for cleaning rust in a rod hole, which adopts the following technical solution: A method for cleaning rust in a rod hole, comprising: Collect the image of the rod on the preset cleaning workbench for feature analysis to determine the rod model and hole parameters, including the hole center position and hole area; Analyze the hole center position, hole area and cleaning direction of the preset linkage laser group to determine the hole cleaning path and hole cleaning blind spot area; Calculate based on the hole cleaning blind spot area and the preset laser rotation range to determine the compensation angle; Instruct the preset linkage laser group to move along the hole cleaning path to perform circumferential rotation cleaning on the inner wall of the hole of the rod, and perform compensation cleaning on the blind spot area of ​​the hole cleaning according to the compensation angle; Instruct the preset cleaning workbench to stack the rust-removed rods.

[0007] By adopting the above technical solution, when the rod that needs to be derusted is changed to a new model, the hole parameter analysis can be performed through the image, so as to adjust the corresponding hole cleaning path and analyze the corresponding hole cleaning blind spot area, so that the linked laser group can derust the two holes of the rod according to the hole cleaning path and compensation angle without stopping to adjust the position of the laser, which helps to improve the work efficiency of rust removal of rods of different models.

[0008] Optionally, when the rods after cyclic rust removal are cut and stacked, the following steps are also included: Marking the rod model of the blanked rod as the previous rod model, and acquiring a replacement rod image of the replacement rod; Analyze the replacement member model of the replacement member image and compare it with the previous member model; When the replacement rod model is different from the previous rod model, an analysis is performed based on the replacement rod image to determine the current cleaning path and the current cleaning blind spot area; The hole cleaning path and the hole cleaning blind spot area of ​​the previous rod are replaced based on the current cleaning path and the current cleaning blind spot area.

[0009] By adopting the above technical solution, after the hole cleaning of the rod is completed, the image analysis of the replaced rod is performed, and the rod model is compared, so as to analyze whether a new model of rod has been replaced during the continuous rust removal operation, and update the hole cleaning path and hole cleaning blind spot area of ​​the corresponding rod model, so as to accurately remove rust from the inner wall of the hole of the replaced rod.

[0010] Optionally, determining the current cleaning path includes: Comparing the cross-sectional area of ​​the laser head of the preset linkage laser group in the preset cleaning insertion direction with the hole area; When the cross-sectional area of ​​the laser head is smaller than the hole area, the cleaning position of the linked laser group and the center position of the hole are subjected to path analysis to determine the movable path; Perform calculation and analysis based on the preset moving time cost strategy to determine the moving time cost; Search according to the moving time cost to determine the moving path corresponding to the minimum moving time cost; Update the moving path to the current cleaning path.

[0011] By adopting the above technical solution, the laser head and the hole area are compared and analyzed. When the hole area does not hinder the insertion of the laser head, the moving time cost of the movable path is calculated, so as to find the moving path corresponding to the minimum moving time cost, which helps to reduce the time consumed by the linked laser group when moving along the moving path.

[0012] Optionally, the expression used in the calculation and analysis of the moving time cost strategy is as follows: ; ; in represents the moving time cost, The weight coefficient of the time consumption for positioning and calibration of the laser cleaning head, Indicates the power consumption of laser positioning calibration, Indicates The average laser cleaning time of the movable paths is: Indicates the time consumed for laser cleaning at hole position a. Indicates the time consumed for laser cleaning of hole position b. The weight coefficient affected by the moving time.

[0013] By adopting the above technical solution, the impact of the moving time cost on the laser moving path is calculated, so as to find the moving path with the least impact, so that the time consumption can be reduced when the linked laser group moves according to the corresponding moving path, which helps to improve the cleaning work efficiency.

[0014] Optionally, cleaning of the rod holes includes: Analyze the hole profile features of the rod image to determine the hole profile parameters, the hole profile parameters include the hole profile type and the hole profile trajectory; When the hole profile type is inconsistent with the preset circular profile type, the basic cleaning laser wavelength of the rod surface corrosion type in the preset laser cleaning database is matched; Instruct the preset linkage laser group to perform laser cleaning on the inner wall of the hole corresponding to the hole contour trajectory according to the basic cleaning laser wavelength, and collect the minimum distance between the laser head and the inner wall of the hole where the hole contour trajectory is located during the rotation process; When the corresponding distance of the minimum spacing increases or decreases, the laser wavelength of the preset laser linkage group is reduced or increased.

[0015] By adopting the above technical solution, the contour trajectory and contour type of the hole are analyzed when cleaning the hole. When the contour trajectory is irregular and causes the minimum distance between the laser head and the inner wall of the hole to change, the laser intensity is increased or decreased by adjusting the wavelength of the laser, thereby reducing the impact of the distance change on the laser cleaning of rust, which helps to improve the effectiveness of rust cleaning of irregular holes.

[0016] Optionally, when the hole contour type is inconsistent with the preset circular contour type, it also includes: Compare the hole contour trajectory with the normal contour trajectory in the preset contour trajectory database, and when the hole contour trajectory is the normal contour trajectory, perform turning point analysis on the hole contour trajectory to determine the turning trajectory segment; Performing trajectory curvature analysis based on the turning trajectory segment, when the trajectory curvature is greater than the preset interference curvature, marking the turning trajectory segment corresponding to the trajectory curvature as the wavelength adjustment trajectory; The minimum acquisition frequency corresponding to the trajectory curvature in the preset acquisition frequency database is matched, and acquisition is performed according to the minimum acquisition frequency when acquiring the minimum spacing.

[0017] By adopting the above technical solution, the trajectory curvature corresponding to the turning trajectory segment in the hole contour is analyzed, the turning trajectory segment with a larger trajectory curvature is marked, and the corresponding minimum acquisition frequency is matched, so that when collecting the minimum distance between the laser head and the inner wall of the hole, the number of acquisitions can be reduced, and at the same time, the reliability of the minimum distance collected is not easily affected.

[0018] Optionally, when determining the hole contour parameters, the following is also included: Analyze the number of turning trajectory segments of the hole contour trajectory, and when the number of turning trajectory segments is greater than the preset number of basic turning trajectories, calculate the mean curvature of the turning trajectory broken line segments; Based on the curvature mean matching, the corresponding mean laser wavelength, laser scanning angular velocity and scanning times in the database are cleaned up according to the preset special-shaped trajectory; When cleaning the inner wall of the hole, the preset linkage laser group is instructed to clean the turning trajectory broken line segment according to the average laser wavelength, laser scanning angular velocity and scanning times.

[0019] By adopting the above technical solution, the curvature mean is calculated when there are a large number of broken line trajectory segments, and the corresponding mean laser wavelength, laser scanning angular velocity and number of scans are matched. As a result, the linked laser group does not need to frequently adjust the laser wavelength when scanning and cleaning the inner wall of the hole, thereby reducing the adjustment time and helping to improve the rust removal efficiency.

[0020] Optionally, the preset linkage laser group moves along the hole cleaning path to perform circumferential rotation cleaning on the inner wall of the hole of the rod, and performs compensation cleaning on the blind spot area of ​​the hole cleaning according to the compensation angle, including the following steps: Step 1, sorting the holes of the rods for cleaning in the direction in which the holes are transferred to a preset cleaning workbench to determine the first cleaning hole and the second cleaning hole; Step 2, instructing the first linkage laser in the preset linkage laser group to clean the first cleaning hole according to the laser rotation range and then move to the outside of the first cleaning hole; Step 3, instructing the second linkage laser in the preset linkage laser group to perform compensation cleaning on the first cleaning hole according to the compensation angle and the hole cleaning path, and then move to the outside of the first cleaning hole; Instruct the first linkage laser and the second linkage laser to cycle step 1 to step 3 to remove rust from the second cleaning hole.

[0021] By adopting the above technical solution, the first linkage laser and the second linkage laser clean the first cleaning hole and the second cleaning hole in sequence, and clean the blind spots of the hole cleaning at a compensation angle, so that the first linkage laser and the second linkage laser can complete the rapid rust removal operation of the two holes in turn.

[0022] In the second aspect, the present application provides a laser rust removal and cleaning system for rod holes, which adopts the following technical solution: A laser rust removal and cleaning system for rod holes, comprising: The acquisition module collects the image of the rod on the preset cleaning workbench for feature analysis to determine the rod model and hole parameters, including the hole center position and hole area; The analysis module analyzes the hole center position, hole area and cleaning direction of the preset linkage laser group to determine the hole cleaning path and hole cleaning blind spot area; Calculate based on the hole cleaning blind spot area and the preset laser rotation range to determine the compensation angle; The processing module instructs the preset linkage laser group to move along the hole cleaning path to perform circumferential rotation cleaning on the inner wall of the hole of the rod, and performs compensation cleaning on the blind spot area of ​​the hole cleaning according to the compensation angle; Instruct the preset cleaning workbench to stack the rust-removed rods.

[0023] By adopting the above technical solution, when the rod that needs to be derusted is changed to a new model, the hole parameter analysis of the rod image is performed to adjust the corresponding hole cleaning path and analyze the corresponding hole cleaning blind spot area, so that the linked laser group can derust the two holes of the rod according to the hole cleaning path and compensation angle without stopping to adjust the position of the laser, which helps to improve the work efficiency of rust removal of rods of different models.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. When the rod that needs to be derusted is changed to a new model, the hole parameter analysis of the rod image is performed to adjust the corresponding hole cleaning path and analyze the corresponding hole cleaning blind spot area, so that the linkage laser group can derust the two holes of the rod according to the hole cleaning path and compensation angle without stopping to adjust the position of the laser, which helps to improve the work efficiency of derusting different models of rods; 2. After the holes of the rod are cleaned, image analysis is performed on the replaced rod, and the rod model is compared to analyze whether a new type of rod has been replaced during the continuous rust removal operation, and the hole cleaning path and hole cleaning blind spot area of ​​the corresponding rod model are updated, so that the replaced rod can be accurately rust-free on the inner wall of the hole; 3. Calculate the impact of the moving time cost on the laser moving path, so as to find the moving path with the least impact, so that the linked laser group can reduce the time consumption when moving according to the corresponding moving path, which helps to improve the cleaning work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a method flow chart of steps S100 to S104 in this application.

[0026] Figure 2 It is a method flow chart of steps S200 to S203 in this application.

[0027] Figure 3 It is a method flow chart of steps S300 to S304 in this application.

[0028] Figure 4 It is a method flow chart of steps S400 to S403 in this application.

[0029] Figure 5 It is a method flow chart of steps S500 to S502 in this application.

[0030] Figure 6 It is a method flow chart of steps S600 to S602 in this application.

[0031] Figure 7 It is a method flow chart of steps S700 to S703 in this application.

[0032] Figure 8 It is a schematic diagram of the overall structure of the rod rust removal line in this application.

[0033] Fig. 9 It is a partial structural schematic diagram of the rod hole cleaning device in this application.

[0034] Explanation of the accompanying reference numerals: 1. Rod rust removal and cleaning line; 2. Clamping robot; 3. Laser cleaning device; 31. Conveying mechanism; 32. Linked laser group; 321. First linked laser; 322. Second linked laser; 33. Cleaning workbench; 34. Clamping tooling. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-Figure 9It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0036] The embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0037] An embodiment of the present application discloses a method for cleaning rust from holes in rods. The method analyzes the images of the rods on a cleaning workbench to determine the center positions and hole areas of different types of rods, thereby analyzing the hole cleaning paths and blind spot areas of hole cleaning when a linked laser group performs hole cleaning, and instructs the linked laser group to perform cleaning, thereby eliminating the need to stop the machine to adjust the position of the laser, and helping to improve the efficiency of rust removal from holes in different rods.

[0038] Reference Figure 1 The method flow of the rod hole rust cleaning method includes the following steps: Step S100: collecting an image of a rod on a preset cleaning workbench for feature analysis to determine the rod model and hole parameters, where the hole parameters include the hole center position and hole area.

[0039] The cleaning workbench is a platform for placing and clamping rods, and is equipped with a corresponding conveying mechanism, which cooperates with a motor and a conveyor belt to convey the rods to a pre-set area for cleaning. An image acquisition camera is pre-set on the cleaning workbench, and the image taken is defined as the rod image by photographing the rods.

[0040] It should be further explained that the rod images corresponding to different rods have different image features. These image features are recorded and pre-stored in the rod model database, and the corresponding rod models and hole parameters are stored. Therefore, when the rod image is input, feature recognition and comparison can be performed, and the corresponding hole parameters can be output, where the hole parameters include the center position and hole area of ​​the hole on the rod. When the transmission mechanism moves the rod to the specified area, the relative position of the rod is determined, so that the position of the hole center on the corresponding rod model can be known.

[0041] Step S101: Analyze according to the hole center position, hole area and cleaning direction of the preset linkage laser group to determine the hole cleaning path and hole cleaning blind spot area.

[0042] The linkage laser includes a first linkage laser and a second linkage laser. The two linkage lasers can be moved to the desired position as needed to clean the rusted area in the hole. The cleaning direction is the direction of the laser cleaning when the linkage laser cleans the inner wall of the hole. After knowing the center position and area of ​​the hole, the movement path is connected according to the corresponding coordinate position of the linkage laser and the center position of the hole, so that the route of the linkage laser when it reaches the corresponding hole for cleaning can be curbed. This route is defined as the hole cleaning path, which includes the corresponding movement paths of the first linkage laser and the second linkage laser.

[0043] In addition, it should be noted that the first linkage laser and the second linkage laser clean the inner wall of the hole according to the circumferential rotation angle of the movement during cleaning. There is an upper limit to the rotation angle, and the maximum rotation angles of the first linkage laser and the second linkage laser can complement each other, so that when the first linkage laser and the second linkage laser clean the two holes on the rod, each hole needs to be cleaned in turn, that is, after the first linkage laser pre-cleans, the second linkage laser performs a second cleaning on the holes that have not been cleaned, so that the circumferential inner wall of the hole is fully laser-derusted. The remaining inner wall area after the first linkage laser cleaning is defined as the blind spot area for hole cleaning.

[0044] Step S102: Calculate according to the hole cleaning blind spot area and the preset laser rotation range to determine the compensation angle.

[0045] The difference between the rotation angle corresponding to the blind spot area of ​​hole cleaning and the upper limit of the rotation angle that the laser can rotate is calculated, and the obtained difference is defined as the compensation angle.

[0046] Step S103: instructing the preset linkage laser group to move along the hole cleaning path to perform circumferential rotation cleaning on the inner wall of the hole of the rod, and to perform compensation cleaning on the blind spot area of ​​the hole cleaning according to the compensation angle.

[0047] After the first and second linkage lasers in the linkage laser group are instructed to move to the center of the hole according to the hole cleaning path, laser rust removal is performed on the inner wall of the hole according to the corresponding laser rotation range, and the second linkage laser is enabled to perform laser rust removal on the blind spot area of ​​the hole cleaning according to the compensation angle, thereby improving the comprehensiveness of rust removal and cleaning.

[0048] Step S104: instructing the preset cleaning workbench to stack the rust-removed rods.

[0049] By executing steps S100 to S104, when the rod for cleaning the holes is changed in model, the hole parameters can be analyzed through the image, so as to adjust the corresponding hole cleaning path and analyze the corresponding hole cleaning blind spot area, so that the linked laser group can remove rust from the two holes of the rod according to the hole cleaning path and the compensation angle without stopping to adjust the position of the laser, which helps to improve the work efficiency of rust removal for rods of different models.

[0050] Reference Figure 2 When the rods after rust removal are cut and stacked, it also includes: Step S200: marking the rod model of the blanked rod as the previous rod model, and acquiring a replacement rod image of the replacement rod.

[0051] After the rod cleaning is completed, an image of the rod that has not been cleaned is taken and defined as a replacement rod image, so as to facilitate a subsequent secondary image analysis of the rod that has not been cleaned.

[0052] Step S201: Analyze the replacement rod model of the replacement rod image and compare it with the previous rod model.

[0053] By performing feature analysis on the replacement rod image, the model of the replacement rod is obtained and compared with the previous rod model to determine whether the rods are of the same type.

[0054] Step S202: When the replacement rod model is different from the previous rod model, analysis is performed based on the replacement rod image to determine the current cleaning path and the current cleaning blind spot area.

[0055] When the replacement rod model is different from the previous rod model, it means that the first linkage laser and the second linkage laser cannot remove rust from the inner wall of the hole according to the previous moving path. Then, the replacement rod image is analyzed again to plan a new current cleaning path and current cleaning blind spot area.

[0056] Step S203: replacing the hole cleaning path and the hole cleaning blind spot area of ​​the previous rod based on the current cleaning path and the current cleaning blind spot area.

[0057] Replace and update according to the updated current cleaning path and current cleaning blind spot area so that the subsequent linked laser can effectively remove rust from the inner wall of the hole.

[0058] By executing steps S200 to S103, when the hole cleaning of the rod is completed, the image analysis of the replaced rod is performed, and the rod model is compared, so as to analyze whether a new model of rod is replaced during the continuous rust removal operation, and update the hole cleaning path and hole cleaning blind spot area corresponding to the rod model, so as to accurately remove rust from the inner wall of the hole of the replaced rod.

[0059] Reference Figure 3 , determining the current cleaning path includes: Step S300: comparing the cross-sectional area of ​​the laser head of the preset linkage laser group in the preset cleaning insertion direction with the hole area.

[0060] By comparing and analyzing the hole area and the cross-sectional area of ​​the laser head, we can know whether the laser head can be easily inserted from the center of the hole and rotated to remove rust on the inner wall.

[0061] Step S301: When the cross-sectional area of ​​the laser head is smaller than the hole area, a path analysis is performed on the cleaning position of the linked laser group and the center position of the hole to determine a movable path.

[0062] When the cross-sectional area of ​​the laser head is smaller than the hole area, it means that the laser head can be easily inserted into the center of the hole to remove rust from the inner wall. At this time, the center position of the hole and the corresponding first linkage laser and second linkage laser in the linkage laser group are connected to plan the path to determine multiple different moving paths and define them as movable paths.

[0063] Step S302: Perform calculation and analysis based on a preset movement duration cost strategy to determine the movement duration cost.

[0064] The moving time cost strategy is a strategy for calculating the time cost required for the first and second linkage lasers in the linkage laser group to adjust their movements according to the moving path. The specific calculation method will be further detailed in the subsequent steps. The purpose of calculating the moving time cost is to analyze the path with the minimum cost, so as to reduce the adjustment time and improve the efficiency of rust removal.

[0065] Step S303: searching according to the moving duration cost to determine the moving path corresponding to the minimum moving duration cost.

[0066] By finding out the path with the smallest moving time cost and defining it as the minimum moving time cost, the paths corresponding to the minimum moving time cost are compared for subsequent calls.

[0067] The expression used in the calculation and analysis of the moving time cost strategy is as follows: ; ; in represents the moving time cost, The weight coefficient of the time consumption for positioning and calibration of the laser cleaning head, Indicates the power consumption of laser positioning calibration, Indicates The average laser cleaning time of the movable paths is: Indicates the time consumed for laser cleaning at hole position a. Indicates the time consumed for laser cleaning of hole position b. The weight coefficient affected by the moving time.

[0068] Step S304: updating the moving path to the current cleaning path.

[0069] The moving path with the minimum moving time cost is replaced and updated as the current cleaning path, so that the linked laser can move to the center of the hole in the shortest time.

[0070] By executing steps S300 to S304, the laser head and the hole area are compared and analyzed. When the hole area does not hinder the insertion of the laser head, the moving time cost of the movable path is calculated, so as to find the moving path corresponding to the minimum moving time cost, which helps to reduce the time consumed by the linked laser group when moving along the moving path.

[0071] Reference Figure 4 , cleaning the holes of the rods includes: Step S400: analyzing the hole contour features of the rod image to determine hole contour parameters, where the hole contour parameters include hole contour type and hole contour trajectory.

[0072] The hole contour feature is the image feature of the hole contour. By comparing and analyzing the rod image and the hole contour feature, the hole contour type and hole contour trajectory can be obtained, and the hole contour trajectory and hole contour type are combined into hole contour parameters for use. Among them, there are many types of hole contours, such as circular contours, elliptical contours, long waist contours, and special-shaped contour types.

[0073] Step S401: When the hole contour type is inconsistent with the preset circular contour type, the basic cleaning laser wavelength of the rod surface corrosion type in the preset laser cleaning database is matched.

[0074] When the hole contour type is a circular contour type, the interval distance when the laser head performs circumferential cleaning on the inner wall of the hole is the same, so the laser wavelength used by the laser head does not need to be adjusted to have the same cleaning effect. However, the non-circular contour type will produce inconsistencies in distance, so that rods with larger holes will have different cleaning effects due to the laser wavelength. In addition, the type of rust represents different types of rust severity, including slight rust, moderate rust, and severe rust, etc. Different degrees of rust require different laser wavelengths for cleaning. Therefore, a cleaning database is established in advance, and different types of rust and the corresponding basic cleaning laser wavelengths are stored in the database. When the type of rust is input, the corresponding laser wavelength is matched and output, and is defined as the basic cleaning laser wavelength, which means the basic laser wavelength that can clean the corresponding type of rust.

[0075] Step S402: instructing the preset linkage laser group to perform laser cleaning on the inner wall of the hole corresponding to the hole contour trajectory according to the basic cleaning laser wavelength, and collecting the minimum distance between the laser head and the inner wall of the hole where the hole contour trajectory is located during the rotation process.

[0076] After the linked laser group is adjusted according to the corresponding basic cleaning laser wavelength, when the rust is removed from the inner wall contour of the hole, the minimum distance between the inner wall of the hole and the laser head can be obtained by collecting the rotation angle of the laser head when the inner wall is cleaned by the laser head. This distance is defined as the minimum spacing.

[0077] Step S403: when the distance corresponding to the minimum spacing increases or decreases, the laser wavelength of the preset laser linkage group is reduced or increased.

[0078] When the minimum spacing changes, by adjusting the wavelength of the laser, the laser head can maintain a good rust cleaning effect when facing the inner walls of holes with different spacings, and will not cause excessive damage to the inner wall surface of the hole due to excessive laser cleaning energy.

[0079] By executing steps S400 to S403, the contour trajectory and contour type of the hole are analyzed when cleaning the hole. When the contour trajectory is irregular so that the minimum distance between the laser head and the inner wall of the hole changes, the wavelength of the laser is adjusted to increase or decrease the intensity of the laser, thereby reducing the impact of the distance change on the laser cleaning of rust, which helps to improve the effectiveness of rust cleaning of irregular holes.

[0080] Reference Figure 5 , when the hole contour type is inconsistent with the preset circular contour type, it also includes: Step S500: comparing the hole contour trajectory with a normal contour trajectory in a preset contour trajectory database, and when the hole contour trajectory is a normal contour trajectory, performing a turning point analysis on the hole contour trajectory to determine a turning trajectory segment.

[0081] By analyzing the turning point position of the hole contour, the circular trajectory segment is defined as the normal contour trajectory, and the non-circular trajectory segment is defined as the turning trajectory segment, so as to facilitate the subsequent call analysis when adjusting the laser wavelength.

[0082] Step S501: performing a trajectory curvature analysis based on the turning trajectory segment, and when the trajectory curvature is greater than a preset interference curvature, marking the turning trajectory segment corresponding to the trajectory curvature as a wavelength adjustment trajectory.

[0083] The trajectory curvature indicates the curvature of the line segment corresponding to the inner wall of the hole, and the interference curvature indicates the curvature when the broken line trajectory is larger. When the curvature is larger, the adjustment of the laser wavelength is more complicated. The broken line trajectory whose trajectory curvature is greater than the interference curvature is marked and defined as the wavelength adjustment trajectory for further analysis and call.

[0084] Step S502: matching the minimum acquisition frequency corresponding to the trajectory curvature in the preset acquisition frequency database, and performing acquisition according to the minimum acquisition frequency when acquiring the minimum spacing.

[0085] The minimum acquisition frequency indicates the frequency of collecting the distance between the laser head and the inner wall of the contour when the laser head is rust-removing. When the minimum spacing is collected at the minimum acquisition frequency, the spacing change can be captured in time, which is not easy to affect the collection accuracy. At the same time, it can reduce the running memory consumption caused by more collection times.

[0086] By executing steps S500 to S502, the trajectory curvature corresponding to the turning trajectory segment in the hole contour is analyzed, the turning trajectory segment with a larger trajectory curvature is marked, and the corresponding minimum acquisition frequency is matched, so that when acquiring the minimum distance between the laser head and the inner wall of the hole, the number of acquisitions can be reduced, and the reliability of the acquired minimum distance is not easily affected.

[0087] Reference Figure 6 , when determining the hole profile parameters, it also includes: Step S600: analyzing the number of turning trajectory segments of the hole contour trajectory, and when the number of turning trajectory segments is greater than the preset number of basic turning trajectory segments, calculating the mean curvature of the turning trajectory broken line segments.

[0088] The number of basic turning trajectories indicates that the turning trajectory has fewer segments and does not require frequent adjustment of the laser wavelength. The number is pre-set by the staff according to time requirements. In addition, when the number of turning trajectory segments is greater than the preset number of basic turning trajectories, the mean curvature of the turning trajectory broken line segments is calculated for further analysis.

[0089] Step S601: Clearing the corresponding average laser wavelength, laser scanning angular velocity and scanning times in the database based on the curvature mean matching preset special-shaped trajectory.

[0090] The mean laser wavelength, laser scanning angular velocity and scanning times are the parameters matched when rust removal is performed based on the curvature mean and a higher laser power is not required. Different curvature mean values ​​have corresponding cleaning parameters. By pre-establishing a special-shaped trajectory cleaning database, different mean laser wavelengths, laser scanning angular velocities and scanning times are stored in the database and associated with the corresponding curvature mean values. When the curvature mean value is input, the corresponding mean laser wavelength, laser scanning angular velocity and scanning times can be matched and output.

[0091] Step S602: When cleaning the inner wall of the hole, instruct the preset linkage laser group to clean the turning trajectory broken line segment according to the average laser wavelength, laser scanning angular velocity and scanning times.

[0092] Based on the average laser wavelength, laser scanning angular velocity and scanning times obtained by matching query, the inner wall of the hole is laser cleaned on the broken line segment of the turning trajectory.

[0093] By executing steps S600 to S602, the curvature mean is calculated when there are a large number of broken line trajectory segments, and the corresponding mean laser wavelength, laser scanning angular velocity and scanning times are matched. As a result, the linked laser group does not need to frequently adjust the laser wavelength when scanning and cleaning the inner wall of the hole, thereby reducing the adjustment time and helping to improve the rust removal efficiency.

[0094] Reference Figure 7 , the preset linkage laser group moves along the hole cleaning path to perform circumferential rotation cleaning on the inner wall of the rod hole, and performs compensation cleaning on the hole cleaning blind spot area according to the compensation angle, including the following steps: Step S700: sorting the holes of the rods for cleaning in the direction in which the holes are transferred to the preset cleaning workbench to determine the first cleaning holes and the second cleaning holes.

[0095] Step S701: instructing a first linkage laser in a preset linkage laser group to clean a first cleaning hole according to a laser rotation range and then move to outside the first cleaning hole.

[0096] Step S702: instructing a second linkage laser in a preset linkage laser group to perform compensation cleaning on the first cleaning hole according to the compensation angle and the hole cleaning path, and then move to the outside of the first cleaning hole.

[0097] Step S703: instructing the first linkage laser and the second linkage laser to cycle steps 1 to 3 to remove rust from the second cleaning hole.

[0098] By executing steps S700 to S703, the first linkage laser and the second linkage laser clean the first cleaning hole and the second cleaning hole in sequence, and clean the blind spots of the hole cleaning at a compensation angle, so that the first linkage laser and the second linkage laser can complete the rapid rust removal operation of the two holes in turn.

[0099] It should be noted that the above-mentioned rod hole rust cleaning method is applied to a rod hole cleaning device. Before cleaning the rod holes, other surfaces of the rod need to be cleaned and locally inspected for flaws. When there is no failure problem with the rod, the holes are then rust-removed and cleaned and subsequently inspected.

[0100] Reference Figure 8 and Fig. 9 In the rod rust removal and cleaning line 1, a clamping robot 2 is provided at the discharge port of the workstation adjacent to the hole laser cleaning device 3. The clamping robot 2 clamps the rod and transfers it to the laser cleaning device 3, wherein the laser cleaning device 3 includes a transmission mechanism 31 and a linkage laser group 32. The linkage laser group 32 includes a first linkage laser 321 and a second linkage laser 322. The first linkage laser 321 and the second linkage laser 322 are arranged at intervals. The transmission mechanism is a transmission belt. A cleaning workbench 33 is provided on the conveyor belt. A clamping tool 34 is fixedly provided on the cleaning workbench 33. The clamping tool 34 is used to place and clamp the rod, so that the rod is not easy to shake, thereby reducing the probability of shaking during laser cleaning and affecting the laser rust removal effect.

[0101] Based on the same inventive concept, an embodiment of the present invention provides a rod hole laser rust removal and cleaning system, comprising: The acquisition module collects the image of the rod on the preset cleaning workbench for feature analysis to determine the rod model and hole parameters, including the hole center position and hole area; The analysis module analyzes the hole center position, hole area and cleaning direction of the preset linkage laser group to determine the hole cleaning path and hole cleaning blind spot area; Calculate based on the hole cleaning blind spot area and the preset laser rotation range to determine the compensation angle; The processing module instructs the preset linkage laser group to move along the hole cleaning path to perform circumferential rotation cleaning on the inner wall of the hole of the rod, and performs compensation cleaning on the blind spot area of ​​the hole cleaning according to the compensation angle; Instruct the preset cleaning workbench to stack the rust-removed rods.

[0102] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above. The specific working process of the above-described system, system and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0103] An embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by a method for cleaning rust from holes in a rod.

[0104] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0105] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a method for cleaning rust in rod holes.

[0106] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above. The specific working process of the above-described system, system and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0107] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for cleaning rust on rod holes, characterized in that: include: Collect the image of the rod on the preset cleaning workbench for feature analysis to determine the rod model and hole parameters, including the hole center position and hole area; Analyze the hole center position, hole area and cleaning direction of the preset linkage laser group to determine the hole cleaning path and hole cleaning blind spot area; Calculate based on the hole cleaning blind spot area and the preset laser rotation range to determine the compensation angle; Instruct the preset linkage laser group to move along the hole cleaning path to perform circumferential rotation cleaning on the inner wall of the hole of the rod, and perform compensation cleaning on the blind spot area of ​​the hole cleaning according to the compensation angle; Instruct the preset cleaning workbench to stack the rust-removed rods.

2. The rod hole rust cleaning method according to claim 1, characterized in that: When the rods after cyclic rust removal are cut and stacked, it also includes: Marking the rod model of the blanked rod as the previous rod model, and acquiring a replacement rod image of the replacement rod; Analyze the replacement member model of the replacement member image and compare it with the previous member model; When the replacement rod model is different from the previous rod model, an analysis is performed based on the replacement rod image to determine the current cleaning path and the current cleaning blind spot area; The hole cleaning path and the hole cleaning blind spot area of ​​the previous rod are replaced based on the current cleaning path and the current cleaning blind spot area.

3. The rod hole rust cleaning method according to claim 2, characterized in that: Determining the current cleaning path includes: Comparing the cross-sectional area of ​​the laser head of the preset linkage laser group in the preset cleaning insertion direction with the hole area; When the cross-sectional area of ​​the laser head is smaller than the hole area, the cleaning position of the linked laser group and the center position of the hole are subjected to path analysis to determine the movable path; Perform calculation and analysis based on the preset moving time cost strategy to determine the moving time cost; Search according to the moving time cost to determine the moving path corresponding to the minimum moving time cost; Update the moving path to the current cleaning path.

4. The rod hole rust cleaning method according to claim 3, characterized in that: The expression used in the calculation and analysis of the moving time cost strategy is as follows: ； ； in represents the moving time cost, The weight coefficient of the time consumption for positioning and calibration of the laser cleaning head, Indicates the power consumption of laser positioning calibration, Indicates The average laser cleaning time of the movable paths is: Indicates the time consumed for laser cleaning at hole position a. Indicates the time consumed for laser cleaning of hole position b. The weight coefficient affected by the moving time.

5. The rod hole rust cleaning method according to claim 1, characterized in that: Cleaning of rod holes includes: Analyze the hole profile features of the rod image to determine the hole profile parameters, the hole profile parameters include the hole profile type and the hole profile trajectory; When the hole profile type is inconsistent with the preset circular profile type, the basic cleaning laser wavelength of the rod surface corrosion type in the preset laser cleaning database is matched; Instruct the preset linkage laser group to perform laser cleaning on the inner wall of the hole corresponding to the hole contour trajectory according to the basic cleaning laser wavelength, and collect the minimum distance between the laser head and the inner wall of the hole where the hole contour trajectory is located during the rotation process; When the corresponding distance of the minimum spacing increases or decreases, the laser wavelength of the preset laser linkage group is reduced or increased.

6. The rod hole rust cleaning method according to claim 5, characterized in that: When the hole contour type is inconsistent with the preset circular contour type, it also includes: Compare the hole contour trajectory with the normal contour trajectory in the preset contour trajectory database, and when the hole contour trajectory is the normal contour trajectory, perform turning point analysis on the hole contour trajectory to determine the turning trajectory segment; Performing trajectory curvature analysis based on the turning trajectory segment, when the trajectory curvature is greater than the preset interference curvature, marking the turning trajectory segment corresponding to the trajectory curvature as the wavelength adjustment trajectory; The minimum acquisition frequency corresponding to the trajectory curvature in the preset acquisition frequency database is matched, and acquisition is performed according to the minimum acquisition frequency when acquiring the minimum spacing.

7. The rod hole rust cleaning method according to claim 6, characterized in that: When determining the hole profile parameters, it also includes: Analyze the number of turning trajectory segments of the hole contour trajectory, and when the number of turning trajectory segments is greater than the preset number of basic turning trajectories, calculate the mean curvature of the turning trajectory broken line segments; Based on the curvature mean matching, the corresponding mean laser wavelength, laser scanning angular velocity and scanning times in the database are cleaned up according to the preset special-shaped trajectory; When cleaning the inner wall of the hole, the preset linkage laser group is instructed to clean the turning trajectory broken line segment according to the average laser wavelength, laser scanning angular velocity and scanning times.

8. The rod hole rust cleaning method according to claim 1, characterized in that: The preset linkage laser group moves along the hole cleaning path to perform circumferential rotation cleaning on the inner wall of the hole of the rod, and performs compensation cleaning on the blind spot area of ​​the hole cleaning according to the compensation angle, including the following steps: Step 1, sorting the holes of the rods for cleaning in the direction in which the holes are transferred to a preset cleaning workbench to determine the first cleaning hole and the second cleaning hole; Step 2, instructing the first linkage laser in the preset linkage laser group to clean the first cleaning hole according to the laser rotation range and then move to the outside of the first cleaning hole; Step 3, instructing the second linkage laser in the preset linkage laser group to perform compensation cleaning on the first cleaning hole according to the compensation angle and the hole cleaning path, and then move to the outside of the first cleaning hole; Instruct the first linkage laser and the second linkage laser to cycle step 1 to step 3 to remove rust from the second cleaning hole.

9. A laser rust removal and cleaning system for rod holes, characterized in that: include: The acquisition module collects the image of the rod on the preset cleaning workbench for feature analysis to determine the rod model and hole parameters, including the hole center position and hole area; The analysis module analyzes the hole center position, hole area and cleaning direction of the preset linkage laser group to determine the hole cleaning path and hole cleaning blind spot area; Calculate based on the hole cleaning blind spot area and the preset laser rotation range to determine the compensation angle; The processing module instructs the preset linkage laser group to move along the hole cleaning path to perform circumferential rotation cleaning on the inner wall of the hole of the rod, and performs compensation cleaning on the blind spot area of ​​the hole cleaning according to the compensation angle; Instruct the preset cleaning workbench to stack the rust-removed rods.

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